US 12,030,541 B2
Method and system for state feedback predictive control of high-speed train based on forecast error
Hui Yang, Nanchang (CN); Ling Liu, Fengtai District (CN); Yating Fu, Nanchang (CN); Yinghe Tong, Nanchang (CN); Zhongqi Li, Nanchang (CN); and Junfeng Cui, Beijing (CN)
Assigned to East China Jiaotong University, (CN); and CRSC Research & Design Institute Group Co., Ltd., (CN)
Filed by East China Jiaotong University, Nanchang (CN)
Filed on Jan. 20, 2021, as Appl. No. 17/153,478.
Claims priority of application No. 202010331363.9 (CN), filed on Apr. 24, 2020.
Prior Publication US 2021/0331727 A1, Oct. 28, 2021
Int. Cl. B61L 27/04 (2006.01); B61L 25/02 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06N 5/04 (2023.01); G06N 20/00 (2019.01)
CPC B61L 27/04 (2013.01) [B61L 25/021 (2013.01); G05D 1/0223 (2013.01); G06N 5/04 (2013.01); G06N 20/00 (2019.01); B61L 2201/00 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A method for state feedback predictive control of a high-speed train based on a forecast error, comprising:
obtaining a speed prediction model of the high-speed train

OG Complex Work Unit Math
wherein A, B and C are a first system matrix, a second system matrix and a third system matrix of the high-speed train respectively, ŷk+p is a prediction speed of the train at time k+p, p is a prediction time domain, xk is a state vector of the train at time k, Uk+p−i is a control force of the train at time k+p−i; wherein,
the state vector is a state matrix related to train-related parameters;
predicting prediction speeds ŷk and ŷk+p of the train at the times k and k+p according to the speed prediction model;
obtaining an actual speed output value yk of the train at the time k;
determining a speed prediction error at the time k according to the prediction speed ŷk of the train at the time k and the actual speed output value yk of the train at the time k;
correcting the prediction speed ŷk+p of the train at the time k+p, according to the speed prediction error at the time k, to obtain a corrected prediction speed ŷk+pc of the train;
calculating a control force uk of the train at the time k according to uk=λ−1(p)[yk+pr−yk−Kxk+ŷk] by taking the corrected prediction speed ŷk+pc of the train as a given speed ŷk+pr, wherein K=CAP and

OG Complex Work Unit Math
and
applying the control force uk to the train from the time k to the time k+p based on the control force uk.